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Added pos_abs_ latch in encoder::update()

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This commit is contained in:
Stephen Mounioloux
2020-07-13 22:03:21 -07:00
parent 462bdfb99e
commit bdb935ee99
1 changed files with 3 additions and 2 deletions
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Firmware/MotorControl/encoder.cpp
+3 -2
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@@ -434,6 +434,7 @@ void Encoder::abs_spi_cs_pin_init(){
bool Encoder::update() {
// update internal encoder state.
int32_t delta_enc = 0;
int32_t pos_abs_latched = pos_abs_; //LATCH
switch (mode_) {
case MODE_INCREMENTAL: {
@@ -483,7 +484,7 @@ bool Encoder::update() {
}
abs_spi_pos_updated_ = false;
delta_enc = pos_abs_ - count_in_cpr_;
delta_enc = pos_abs_latched - count_in_cpr_; //LATCH
delta_enc = mod(delta_enc, config_.cpr);
if (delta_enc > config_.cpr/2) {
delta_enc -= config_.cpr;
@@ -501,7 +502,7 @@ bool Encoder::update() {
count_in_cpr_ = mod(count_in_cpr_, config_.cpr);
if(mode_ & MODE_FLAG_ABS)
count_in_cpr_ = pos_abs_;
count_in_cpr_ = pos_abs_latched;
//// run pll (for now pll is in units of encoder counts)
// Predict current pos